APM: fixed throttle nudging
The nudge value depended on RC3_TRIM, which is not a reliable value. It tried to only take effect when the throttle stick was above 50%, but if RC3_TRIM was high for some reason (say 1500) then it would actually depress the throttle by a large amount, which could cause the plane to stall. This also adds a boolean option THROTTLE_NUDGE to allow disabling of throttle nudging
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